Robust Optimal Attitude Controller for MIMO Uncertain Hexarotor MAVs: Disturbance Observer-Based

<div>Case  3: aggressive mission. (a) and (b) show the attitude tracking responses and the attitude tracking errors, respectively, of the proposed robust optimal controller. The red dashed line in (a) represents reference signals.</div>

Mathematical Problems in Engineering

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Figure 16

Figure 16: Robust Optimal Attitude Controller for MIMO Uncertain Hexarotor MAVs: Disturbance Observer-Based 